<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>blmc_robots: /workspace/software/workspace/src/catkin/robots/blmc_robots/include/blmc_robots/fake_finger_driver.hpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">blmc_robots
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="files.html"><span>File&#160;List</span></a></li>
      <li><a href="globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('fake__finger__driver_8hpp_source.html','');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">fake_finger_driver.hpp</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;Eigen/Eigen&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common__header_8hpp.html">blmc_robots/common_header.hpp</a>&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;tuple&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="blmc__joint__module_8hpp.html">blmc_robots/blmc_joint_module.hpp</a>&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="n__joint__blmc__robot__driver_8hpp.html">blmc_robots/n_joint_blmc_robot_driver.hpp</a>&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;robot_interfaces/finger_types.hpp&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;real_time_tools/spinner.hpp&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;real_time_tools/timer.hpp&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceblmc__robots.html">blmc_robots</a></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;{</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1FakeFingerDriver.html">   16</a></span>&#160;<span class="keyword">class </span><a class="code" href="classblmc__robots_1_1FakeFingerDriver.html">FakeFingerDriver</a> : <span class="keyword">public</span> robot_interfaces::RobotDriver&lt;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;                             robot_interfaces::FingerTypes::Action,</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;                             robot_interfaces::FingerTypes::Observation&gt;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;{</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keyword">typedef</span> robot_interfaces::FingerTypes::Action Action;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keyword">typedef</span> robot_interfaces::FingerTypes::Observation Observation;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keyword">typedef</span> robot_interfaces::FingerTypes::Vector Vector;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keyword">typedef</span> robot_interfaces::FingerTypes::Status Status;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordtype">int</span> data_generating_index_ = 0;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="classblmc__robots_1_1FakeFingerDriver.html">FakeFingerDriver</a>()</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    {</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    }</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    Observation get_latest_observation()<span class="keyword"> override</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        <span class="comment">// generating observations by a rule to make it easier to check they are</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <span class="comment">// being logged correctly as the timeindex increases.</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        Observation observation;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        observation.position[0] = data_generating_index_;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        observation.position[1] = 2 * data_generating_index_;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        observation.position[2] = 3 * data_generating_index_;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        observation.velocity[0] = data_generating_index_ + 1;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        observation.velocity[1] = 2 * data_generating_index_ + 1;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        observation.velocity[2] = 3 * data_generating_index_ + 1;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        observation.torque[0] = data_generating_index_ + 2;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        observation.torque[1] = 2 * data_generating_index_ + 2;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        observation.torque[2] = 3 * data_generating_index_ + 2;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        data_generating_index_++;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="keywordflow">return</span> observation;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    }</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    Action apply_action(<span class="keyword">const</span> Action &amp;desired_action)<span class="keyword"> override</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keywordtype">double</span> start_time_sec = real_time_tools::Timer::get_current_time_sec();</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        real_time_tools::Timer::sleep_until_sec(start_time_sec + 0.001);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keywordflow">return</span> desired_action;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    }</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">void</span> shutdown()<span class="keyword"> override</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    }</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">void</span> initialize()<span class="keyword"> override</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    }</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;};</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;robot_interfaces::FingerTypes::BackendPtr create_fake_finger_backend(</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    robot_interfaces::FingerTypes::DataPtr robot_data)</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;{</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">// adjusted values</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    constexpr <span class="keywordtype">double</span> MAX_ACTION_DURATION_S = 0.03;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    constexpr <span class="keywordtype">double</span> MAX_INTER_ACTION_DURATION_S = 0.05;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    std::shared_ptr&lt;robot_interfaces::RobotDriver&lt;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        robot_interfaces::FingerTypes::Action,</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        robot_interfaces::FingerTypes::Observation&gt;&gt;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        robot = std::make_shared&lt;FakeFingerDriver&gt;();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">auto</span> backend = std::make_shared&lt;robot_interfaces::FingerTypes::Backend&gt;(</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        robot, robot_data, MAX_ACTION_DURATION_S, MAX_INTER_ACTION_DURATION_S);</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    backend-&gt;set_max_action_repetitions(-1);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">return</span> backend;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;}  <span class="comment">// namespace blmc_robots</span></div><div class="ttc" id="classblmc__robots_1_1FakeFingerDriver_html"><div class="ttname"><a href="classblmc__robots_1_1FakeFingerDriver.html">blmc_robots::FakeFingerDriver</a></div><div class="ttdef"><b>Definition:</b> fake_finger_driver.hpp:16</div></div>
<div class="ttc" id="blmc__joint__module_8hpp_html"><div class="ttname"><a href="blmc__joint__module_8hpp.html">blmc_joint_module.hpp</a></div></div>
<div class="ttc" id="n__joint__blmc__robot__driver_8hpp_html"><div class="ttname"><a href="n__joint__blmc__robot__driver_8hpp.html">n_joint_blmc_robot_driver.hpp</a></div><div class="ttdoc">Base driver for a generic n-joint BLMC robot. </div></div>
<div class="ttc" id="common__header_8hpp_html"><div class="ttname"><a href="common__header_8hpp.html">common_header.hpp</a></div><div class="ttdoc">The hardware wrapper of the quadruped. </div></div>
<div class="ttc" id="namespaceblmc__robots_html"><div class="ttname"><a href="namespaceblmc__robots.html">blmc_robots</a></div><div class="ttdef"><b>Definition:</b> blmc_joint_module.cpp:15</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_80e6cdd9bbc895bd262b4f65e652822c.html">catkin</a></li><li class="navelem"><a class="el" href="dir_b7f9efe3285d4a585ae30572be0808b1.html">robots</a></li><li class="navelem"><a class="el" href="dir_ee86b8bcb6635cb36ad14bd888f09517.html">blmc_robots</a></li><li class="navelem"><a class="el" href="dir_ff3606c6e0aa43abff10c4365bd5a19c.html">include</a></li><li class="navelem"><a class="el" href="dir_c66acd4681b95343b3d51cde3fc288b6.html">blmc_robots</a></li><li class="navelem"><b>fake_finger_driver.hpp</b></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
